import rclpy
from rclpy.node import Node
import rclpy.time
from tf2_ros import TransformListener,Buffer # 坐标监听器
from tf_transformations import euler_from_quaternion # 四元数转欧拉角函数
import math  # 角度转弧度函数

class TFBraodcaster(Node):
    def __init__(self):
        super().__init__('tf_broadcaster')
        self.buffer_ = Buffer()
        self.listener_ = TransformListener(self.buffer_, self)
        self.timer_ = self.create_timer(1, self.get_transform)

    def get_transform(self):
        """
        实时查询坐标关系 buffer_
        """
        try:
            result = self.buffer_.lookup_transform('map', 'odom', 
                                                   rclpy.time.Time(seconds=0.0), rclpy.time.Duration(seconds=1.0))
            transform = result.transform
            self.get_logger().info(f'平移:{transform.translation}')
            self.get_logger().info(f'旋转:{transform.rotation}')
            rotation_euler = euler_from_quaternion([
                transform.rotation.x, 
                transform.rotation.y,
                transform.rotation.z,
                transform.rotation.w])
            self.get_logger().info(f'旋转RPY:{rotation_euler}')
        except Exception as e:
            self.get_logger().warn(f'获取坐标变化失败原因:{str(e)}')

def main():
    rclpy.init()
    node = TFBraodcaster()
    rclpy.spin(node)
    rclpy.shutdown()
